An Investigation on Mass Variation and its Effect on Positioning and Angular Velocity of the Linkages of a 2-Degree of Freedom Robot Using Direct Dynamic Method

  • Qasem Abdollah Nezhad
  • Habib Bagheri
  • Mohammad Hosein Arabi

Abstract

Mechanisms and robots are used for transmission of force and torque and also for performing a precise motion and work. Dynamics plays a critical role in control of robots with sensitive structures. Dynamic-based calculations were perceived more essential than static-based calculations by recent emergence of machines and structures with significantly high speeds and accelerations. By current rapid advancements in technology the application of mechanical principles, particularly dynamics seems highly essential. These principles account for the fundamentals of analysis and design for a wide range of applications including analysis and design of mobile structures, fixed structures under impact loads, robot-like machines, automatically-controlled assemblies, rockets, missiles, spaceships, land and airborne vehicles, electronic projectiles for electrical devices, various equipments including turbines, pumps, reciprocating engines, lifts, tool machines, etc. The present study aims at investigating the variations (increase and decrease) in masses of linkages (arms) of a 2-degree of freedom robot (without degree of freedom in end effector) and the effect of individual variation in each linkage on position and angular velocity of other linkage and ultimately on performance of a robot with 2 degrees of freedom. For the purposes of this study we used Matlab Software and applied direct dynamic method (Newton-Euler Equations)

Author Biographies

Qasem Abdollah Nezhad
Urmia University/Department of Mechanical Engineering
Habib Bagheri
Islamic Azad University Jolfa International Branch/Department of Mechanical Engineering,
Mohammad Hosein Arabi
Science and Research Branch Kermanshah Islamic Azad University/Department of Mechanical Engineering

References

[1] J. L. Meriam, L. G. Kraige, “Dynamics, ” 7th Ed., 2013.
[2] M. R. Kordjezi, A. R. Akbarzadeh Totonchi, and M. Tahani, “A Direct Dynamic Analysis on 3-PRR Planar Parallel Robot using Natural Complementary Perpendicular Method, ” 10th Conference on Manufacturing Engineering, Babol Industrial University, Iran, 2010.
[3] Dan. B. Marghitu, “Mechanisms and Robots Analysis with Matlab, ” Springer, Verlag London Limited, 2009.
[4] Q. Abdollah Nezhad, M. H. Arabi, and R. Taghipour Safaei, “Investigating the Effect of Gravity Acceleration on Positioning of the 2-degree Freedom Pendulum using Direct Dynamic Method (Newton-Euler Equations), ” 3rd National Conference on Mechanical Systems and Industrial Innovations, Islamic Azad University, Ahwaz Branch, Iran, 2014.
Published
2016-10-31
How to Cite
Abdollah Nezhad, Q., Bagheri, H., & Arabi, M. H. (2016). An Investigation on Mass Variation and its Effect on Positioning and Angular Velocity of the Linkages of a 2-Degree of Freedom Robot Using Direct Dynamic Method. Majlesi Journal of Mechatronic Systems, 5(3). Retrieved from http://journals.iaumajlesi.ac.ir/ms/index/index.php/ms/article/view/271
Section
Articles